EP3134791A1 - Method for guiding an aircraft - Google Patents

Method for guiding an aircraft

Info

Publication number
EP3134791A1
EP3134791A1 EP15716850.1A EP15716850A EP3134791A1 EP 3134791 A1 EP3134791 A1 EP 3134791A1 EP 15716850 A EP15716850 A EP 15716850A EP 3134791 A1 EP3134791 A1 EP 3134791A1
Authority
EP
European Patent Office
Prior art keywords
aircraft
confidence index
processing module
relative location
indicators
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15716850.1A
Other languages
German (de)
French (fr)
Other versions
EP3134791B1 (en
Inventor
Julien FARJON
Christophe Guettier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Electronics and Defense SAS
Original Assignee
Safran Electronics and Defense SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Safran Electronics and Defense SAS filed Critical Safran Electronics and Defense SAS
Publication of EP3134791A1 publication Critical patent/EP3134791A1/en
Application granted granted Critical
Publication of EP3134791B1 publication Critical patent/EP3134791B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0083—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots to help an aircraft pilot in the rolling phase
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

Definitions

  • the present invention thus relates in a first aspect to a guidance method along a reference trajectory on a platform on the ground of an aircraft embarking at least one detector of a plurality of ground indicators, said method comprising the following steps implemented by a data processing module that can be connected to said at least one detector: a) determination of geometrically complex platform uncertainty zones from a platform map, b) to proximity to one of said determined uncertainty zones, selection of at least one indicator from the plurality of ground indicators, c) estimation of the relative location of the aircraft with respect to said reference trajectory from relative data.
  • the step of calculating the confidence index of said at least one selected indicator of the method according to the first aspect may be performed according to the provision of said indicators on the ground relative to the reference trajectory.
  • the step of calculating the relative confidence index relative to the relative location estimated from said at least one selected indicator of the method according to the first aspect can be carried out according to the position of the aircraft with respect to said at least one indicator selected and the reference path.
  • the data processing module selects at least one new indicator on the ground, estimates the relative location of the aircraft with respect to the reference trajectory from of said at least one new selected indicator, calculates a Relative Relative Relative Relative Relative Index based on the at least one new selected indicator and compares the computed confidence index with the predetermined threshold.
  • the data processing module can transmit an alarm message requesting that the aircraft be piloted in manual mode or warning of the passage of the aircraft in manual mode. This makes it possible to warn the pilot and to ask him to regain control of the aircraft or to prevent it from automatically switching to manual mode when the indicators available to the processing module do not make it possible to carry out the guidance of the aircraft in such a way that safe enough.
  • the confidence index relative to the estimated location is below the predetermined threshold, the data processing module can guide the aircraft from the reference trajectory.
  • the processing module implements the step of determining the uncertainty zones repeatedly in time.
  • the processing module implements the step of determining the zones of uncertainty when the aircraft enters the taxiing phase. This makes it possible to determine whether the aircraft is likely to encounter a complex area requiring the implementation of a guiding method adapted to limit the risk of guiding the aircraft in the wrong direction.
  • the invention relates to a computer program product comprising code instructions for executing a guidance method according to the first aspect when this program is executed by a processor.
  • the invention relates to a data processing module capable of being connected to at least one detector of a plurality of indicators located on a platform on the ground, said at least one detector being embarked on an aircraft and said data processing module being configured to: a) determine geometrically complex areas of the platform uncertainty from a platform map, b) near one of said determined areas of uncertainty, select at least one indicator among the plurality of ground indicators, c) estimating the relative location of the aircraft with respect to a reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) computing a Relative Relative Relative Relative Relative Index based on the at least one selected indicator, e) Comparing the Confidence Index c altered to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft along the reference trajectory as a function of the estimated relative location.
  • the invention relates to a system for guiding an aircraft along a reference trajectory on
  • Such computer program products, processing module and guidance system have the same advantages as those mentioned for the method according to the first aspect.
  • FIG. 1 illustrates rolling zones such that crossing zones may have a complex topology
  • FIG. 2 is a diagram schematizing an implementation of a guidance method according to the invention.
  • FIG. 3 represents a guidance system according to one embodiment of the invention
  • an embodiment of the invention relates to a method of guiding an aircraft 1 along a reference trajectory on a platform implemented by a module.
  • Such a system comprises ground indicators 4 used for marking the running zones of the platform and at least one detector 3 on board the aircraft 1 and adapted to detect the position of such indicators on the ground.
  • a detector captures the signals sent or reflected by said indicators on the ground.
  • Such a detector may for example be an optical or optoelectronic sensor capturing light emitted by light sources such as lamps or reflected by reflective markings.
  • Such a detector can also be a radio frequency receiver receiving radio signals emitted by antennas placed on the ground.
  • Said detectors 3 can be connected to the processing module 2 so as to provide measurement data enabling the processing module 2 to determine the relative location of the aircraft 1 with respect to these indicators 4.
  • the data processing module 2 may comprise communication means such as a communication interface COM, calculation means such as a calculator CALC and storage means MEM.
  • a computer may consist of a processor or microprocessor, of the x-86 or RISC type, for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements. or any other combination of components to implement the process calculation steps described below.
  • the MEM storage means may consist of any type of computer mass storage such as a magnetic hard disk tray, an SSD, flash memory or a CD-ROM or DVD-ROM.
  • Said communication means COM can be used to communicate with the detectors 3.
  • Said storage means MEM can in particular be used to store one or more cartographic representations of the airport platform on which the aircraft 1 is to be guided.
  • the data processing module 2 can be connected to at least one computer of the aircraft or be integrated therein, so as to be able to send him guidance commands of the aircraft.
  • the method according to the invention proposes an improved guidance of the aircraft along a reference trajectory making it possible to limit the probability of guiding errors during guidance in a complex zone such as a crossing zone.
  • the relative location of the aircraft with respect to the reference trajectory is estimated from data relating to ground indicators transmitted by the detectors, such as the position of the indicators by compared to the plane. This estimate of the location of the aircraft is used to guide the aircraft along this reference trajectory.
  • the method of the invention proposes to verify that the ground indicators taken into account to determine the relative location of the aircraft are relevant to the reference path to follow. Thus, if an aircraft is at a crossing between a rectilinear track and a curved track and the trajectory to be followed by the aircraft must lead it along the rectilinear track, the method according to the invention makes it possible to avoid that the indicators located along the curved track are taken into account to perform the guidance of the aircraft.
  • the method calculates for a relative location estimated from some ground indicators a confidence index.
  • a confidence index represents the probability that these ground indicators are appropriate for the guidance of the aircraft given the trajectory taken by it.
  • the data processing module determines one or more geometrically complex uncertainty zones of the platform from a platform map.
  • a determination step can be implemented at the beginning of a rolling phase.
  • a determination step can be implemented repeatedly over time during a rolling phase.
  • the processing module selects from among the plurality of ground indicators detected by the detectors of the aircraft at least one indicator. Such a selection step is implemented when the aircraft is in or near an area of uncertainty determined during the determination step E1. These selected indicators are those that the processing module will then attempt to use to proceed with the guidance of the aircraft.
  • the processing module 2 estimates the relative location of the aircraft with respect to the reference trajectory from data relating to the indicators selected during the selection step E2 transmitted. by the detectors. This estimate may for example involve the position of the aircraft with respect to an indicator or a pair of indicators.
  • the processing module 2 checks the relevance of the selected indicators used during the estimation step relative location E3 relative to the reference trajectory to follow. For this, the processing module calculates for the relative location estimated from these selected indicators a confidence index indicating the probability that these selected indicators mark a path that the aircraft is supposed to take along the reference path.
  • the calculation of the confidence index is made according to the disposition of the selected indicators with respect to the reference trajectory. For example, indicators may be considered suitable if they are arranged along a path similar to the reference path. The confidence index associated with these indicators can then be high. Conversely, if selected indicators form a curved line indicating a turn while the reference path is a straight line, the indicators may be considered unsuitable and the associated index of confidence may be low.
  • the calculation of the confidence index is made according to the position of the aircraft with respect to the selected indicators and the reference trajectory.
  • the processing module can for example compare the position of the aircraft with respect to the selected indicators and the location of the aircraft relative to the reference trajectory. If the selected indicators are unsuitable and do not follow the reference trajectory, the aircraft following the reference trajectory will deviate from the selected indicators but not from the reference trajectory. The difference between the relative position of the aircraft with respect to the selected indicators and the relative location of the aircraft relative to the reference trajectory may then present a sudden variation. The confidence index associated with such unsuitable indicators may then be low.
  • the calculation of the confidence index may be a function of a geometric complexity level of the uncertainty zone traversed by the aircraft or of external conditions such as weather conditions. The confidence index may be set to a deliberately very low predetermined value when conditions are fulfilled in which the calculation of the confidence index is known to give unreliable results.
  • the processing module compares the calculated index of confidence with a predetermined threshold.
  • the processing module guides the aircraft along the reference trajectory as a function of the estimated relative location if the confidence index is greater than the predetermined threshold.
  • the relative location having been recognized as trustworthy, the processing module can use it to correct the trajectory of the aircraft so that it follows the reference trajectory. If the confidence index is below the threshold, the estimated relative position can not be used for the guidance of the aircraft and the processing module performs again the selection steps E2, relative location estimation E3, E4 calculation and comparison E5: the processing module selects at least one new indicator, estimates the relative location of the aircraft from the new indicators, calculates the associated confidence index and compares it with the predetermined threshold.
  • the processing module can thus repeat these steps as long as the confidence index remains below the threshold.
  • the processing module can, when a confidence index is below the threshold, transmit an alarm message to the requesting pilot that the aircraft is piloted in manual mode or warning of the passage of the aircraft in manual mode during a manual guidance step E7.
  • a message may for example be sent after a predetermined number of negative comparisons, after a certain time has elapsed without a confidence index being greater than the threshold or even when there is no new indicator for which no confidence index 'has been calculated.
  • the processing module then considers that the indicators selected during the previous steps do not allow reliable guidance of the aircraft and that the pilot should provide manual guidance of the aircraft.
  • the transition to manual mode may be automatic after the issuance of the alarm message, for example after expiration of a time countdown of predetermined duration.
  • the processing module can decide to guide the aircraft from the reference trajectory during an autonomous guidance step E8, without taking into account the one or more estimated relative locations since these relative locations were not considered reliable.
  • the processing module can also take into account absolute location information provided for example by a GPS module.
  • the aircraft then continues to be guided but blind, without using the information from the detectors.
  • the processing module can still execute the selection steps E2, for estimating a relative location E3, E4 calculation and comparison E5 and may offer the pilot to return to automatic guidance mode when a confidence index is greater than the predetermined threshold.
  • the module treatment then has a relative location considered reliable allowing it to perform the automatic guidance of the aircraft in the uncertainty zone along the reference path.
  • the automatic guidance mode can also be automatically reset when a confidence index is greater than the predetermined threshold.

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Abstract

The invention relates to a method for guiding an aircraft along a reference path on a ground platform, said aircraft carrying at least one detector for detecting a plurality of indicators on the ground, said method comprising: a) determining (E1) geometrically complex zones of uncertainty of the platform using a map of the platform, b) selecting (E2) at least one indicator close to one of said zones of uncertainty, c) estimating (E3) the relative location of the aircraft in relation to said reference path using data relating to the selected indicators transmitted by the detectors, d) calculating (E4) a confidence index relating to the relative location estimated using the selected indicators, e) comparing (E5) the calculated confidence index with a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding (E6) the aircraft along the reference path on the basis of the estimated relative location.

Description

Procédé de guidage d'un aéronef  Method of guiding an aircraft
DOMAINE TECHNIQUE GENERAL GENERAL TECHNICAL FIELD
L'invention concerne le domaine de l'aide au pilotage dans une phase de déplacement au sol d'un aéronef et plus précisément un procédé de guidage autonome amélioré lors d'une phase de roulage. The invention relates to the field of piloting assistance in a phase of ground movement of an aircraft and more specifically an improved autonomous guidance method during a taxi phase.
ETAT DE LA TECHNIQUE STATE OF THE ART
Lors des phases de roulage au sol d'un aéronef, le pilote de l'aéronef doit conduire celui-ci entre les pistes et les infrastructures aéroportuaires en toute sécurité malgré une visibilité réduite. During the taxiing phases of an aircraft, the pilot of the aircraft must drive it between the runways and airport infrastructure safely despite reduced visibility.
Afin d'aider le pilote dans sa tâche, il existe des systèmes de guidage déterminant la position de l'aéronef par rapport à des indicateurs au sol, tels que des marquages réfléchissants, des plots ou des lampes, et utilisant cette information pour guider l'aéronef le long d'une trajectoire de référence à suivre. In order to assist the pilot in his task, there are guidance systems determining the position of the aircraft in relation to ground indicators, such as reflective markings, pads or lamps, and using this information to guide the aircraft. aircraft along a reference path to follow.
Néanmoins, certaines zones de roulage telles que les zones de croisement peuvent présenter une topologie complexe susceptible d'induire en erreur un système de guidage, comme représenté en figure 1. Celui-ci risque en effet de prendre en compte pour le calcul d'une trajectoire à suivre des indicateurs inadaptés et peut alors guider l'aéronef dans une mauvaise direction. Une telle erreur de trajectoire peut présenter des risques importants de sécurité si l'aéronef est ainsi guidé hors d'une voie de roulage ou bien sur une piste déjà empruntée par un autre appareil. Il existe donc un besoin d'un procédé supervisant le guidage d'un aéronef afin de le guider correctement sur une plateforme d'un aéroport, même dans des zones de roulage complexes, et limitant l'impact d'une erreur de guidage. Nevertheless, certain rolling areas such as the crossing zones may have a complex topology liable to mislead a guidance system, as shown in FIG. 1. This can indeed take into account for the calculation of a trajectory to follow unsuitable indicators and can then guide the aircraft in the wrong direction. Such a trajectory error can present significant safety risks if the aircraft is thus guided out of a taxiway or on a runway already taken by another aircraft. There is therefore a need for a method supervising the guidance of an aircraft to guide it correctly on a platform of an airport, even in complex rolling areas, and limiting the impact of a guiding error.
PRESENTATION DE L'INVENTION PRESENTATION OF THE INVENTION
La présente invention se rapporte ainsi selon un premier aspect à un procédé de guidage le long d'une trajectoire de référence sur une plateforme au sol d'un aéronef embarquant au moins un détecteur d'une pluralité d'indicateurs au sol, ledit procédé comprenant les étapes suivantes mises en œuvre par un module de traitement de données susceptible d'être connecté audit au moins un détecteur : a) détermination de zones d'incertitude de la plateforme complexes géométriquement à partir d'une cartographie de la plateforme, b) à proximité d'une desdites zones d'incertitude déterminées, sélection d'au moins un indicateur parmi la pluralité d'indicateurs au sol, c) estimation de la localisation relative de l'aéronef par rapport à ladite trajectoire de référence à partir de données relatives audit au moins un indicateur sélectionné transmises par ledit au moins un détecteur, d) calcul d'un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un indicateur sélectionné, e) comparaison de l'indice de confiance calculé à un seuil prédéterminé, f) lorsque l'indice de confiance calculé est supérieur au seuil prédéterminé, guidage de l'aéronef le long de la trajectoire de référence en fonction de la localisation relative estimée. Un tel procédé permet de guider l'aéronef sans risquer de lui faire suivre une trajectoire différente de la trajectoire de référence. The present invention thus relates in a first aspect to a guidance method along a reference trajectory on a platform on the ground of an aircraft embarking at least one detector of a plurality of ground indicators, said method comprising the following steps implemented by a data processing module that can be connected to said at least one detector: a) determination of geometrically complex platform uncertainty zones from a platform map, b) to proximity to one of said determined uncertainty zones, selection of at least one indicator from the plurality of ground indicators, c) estimation of the relative location of the aircraft with respect to said reference trajectory from relative data. auditing at least one selected indicator transmitted by said at least one detector, d) calculating a confidence index relative to the relative location estimated at pa from the selected at least one indicator, e) comparing the calculated confidence index to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft along the trajectory reference according to the estimated relative location. Such a method can guide the aircraft without risking to follow a different trajectory of the reference path.
L'étape de calcul de l'indice de confiance dudit au moins un indicateur sélectionné du procédé selon le premier aspect peut être réalisée en fonction de la disposition desdits indicateurs au sol par rapport à la trajectoire de référence. The step of calculating the confidence index of said at least one selected indicator of the method according to the first aspect may be performed according to the provision of said indicators on the ground relative to the reference trajectory.
L'étape de calcul de l'indice de confiance relatif à la localisation relative estimée à partir dudit au moins un indicateur sélectionné du procédé selon le premier aspect peut être réalisée en fonction de la position de l'aéronef par rapport audit au moins un indicateur sélectionné et de la trajectoire de référence. The step of calculating the relative confidence index relative to the relative location estimated from said at least one selected indicator of the method according to the first aspect can be carried out according to the position of the aircraft with respect to said at least one indicator selected and the reference path.
Ceci permet de quantifier la confiance qui peut être accordée à une estimation de localisation de l'aéronef en fonction des positions des indicateurs et de l'aéronef les uns par rapport aux autres et par rapport à la trajectoire que l'aéronef doit suivre. This makes it possible to quantify the confidence that can be given to an estimate of the location of the aircraft according to the positions of the indicators and the aircraft relative to each other and with respect to the trajectory that the aircraft must follow.
Lorsque l'indice de confiance relatif à la localisation relative estimée est inférieur au seuil prédéterminé, le module de traitement de données sélectionne au moins un nouvel indicateur au sol, estime la localisation relative de l'aéronef par rapport à la trajectoire de référence à partir dudit au moins un nouvel indicateur sélectionné, calcule un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un nouvel indicateur sélectionné et compare l'indice de confiance calculé au seuil prédéterminé. When the relative confidence index relative to the estimated relative location is lower than the predetermined threshold, the data processing module selects at least one new indicator on the ground, estimates the relative location of the aircraft with respect to the reference trajectory from of said at least one new selected indicator, calculates a Relative Relative Relative Relative Relative Index based on the at least one new selected indicator and compares the computed confidence index with the predetermined threshold.
Ceci permet de ne pas guider l'aéronef à partir d'une localisation estimée insuffisamment digne de confiance et risquant de faire suivre à l'aéronef une mauvaise direction mais de plutôt rechercher une localisation présentant un niveau de confiance suffisant pour être utilisée pour guider l'aéronef. Lorsque l'indice de confiance relatif à la localisation relative estimée est inférieur au seuil prédéterminé, le module de traitement de données peut transmettre un message d'alarme requérant que l'aéronef soit piloté en mode manuel ou avertissant du passage de l'aéronef en mode manuel. Ceci permet de prévenir le pilote et de lui demander de reprendre le contrôle de l'aéronef ou de le prévenir du passage automatique en mode manuel lorsque les indicateurs à disposition du module de traitement ne permettent pas de réaliser le guidage de l'appareil de manière suffisamment sûre. Lorsque l'indice de confiance relatif à la localisation estimée est inférieur au seuil prédéterminé, le module de traitement de données peut guider l'aéronef à partir de la trajectoire de référence. This makes it possible not to guide the aircraft from a location deemed insufficiently trustworthy and likely to forward the aircraft in a wrong direction but rather to seek a location with a sufficient level of confidence to be used to guide the aircraft. 'aircraft. When the relative confidence index relative to the estimated relative location is lower than the predetermined threshold, the data processing module can transmit an alarm message requesting that the aircraft be piloted in manual mode or warning of the passage of the aircraft in manual mode. This makes it possible to warn the pilot and to ask him to regain control of the aircraft or to prevent it from automatically switching to manual mode when the indicators available to the processing module do not make it possible to carry out the guidance of the aircraft in such a way that safe enough. When the confidence index relative to the estimated location is below the predetermined threshold, the data processing module can guide the aircraft from the reference trajectory.
Ceci permet de continuer à réaliser un guidage de l'aéronef de manière autonome sans prendre en compte les données relatives aux indicateurs au sol transmises par les détecteurs. Ainsi cette solution ne risque pas de guider l'aéronef dans une mauvaise direction lorsque les indicateurs à disposition ne sont pas considérés comme dignes de confiance. This makes it possible to continue to guide the aircraft autonomously without taking into account the data relating to the ground indicators transmitted by the detectors. Thus this solution is not likely to guide the aircraft in the wrong direction when the available indicators are not considered reliable.
Dans une première variante de mise en œuvre, le module de traitement met en œuvre l'étape de détermination des zones d'incertitude de manière répétée dans le temps. In a first implementation variant, the processing module implements the step of determining the uncertainty zones repeatedly in time.
Dans une deuxième variante de mise en œuvre, le module de traitement met en œuvre l'étape de détermination des zones d'incertitude lorsque l'aéronef entre en phase de roulage (« taxiing »). Ceci permet de déterminer si l'aéronef risque de rencontrer une zone complexe nécessitant de mettre en œuvre un procédé de guidage adapté pour limiter le risque de guidage de l'aéronef dans une mauvaise direction. Selon un deuxième aspect, l'invention concerne un produit programme d'ordinateur comprenant des instructions de code pour l'exécution d'un procédé de guidage selon le premier aspect lorsque ce programme est exécuté par un processeur. Selon un troisième aspect, l'invention concerne un module de traitement de données susceptible d'être connecté à au moins un détecteur d'une pluralité d'indicateurs localisés sur une plateforme au sol, ledit au moins un détecteur étant embarqué sur un aéronef et ledit module de traitement de données étant configuré pour : a) déterminer des zones d'incertitude de la plateforme complexes géométriquement à partir d'une cartographie de la plateforme, b) à proximité d'une desdites zones d'incertitude déterminées, sélectionner au moins un indicateur parmi la pluralité d'indicateurs au sol, c) estimer la localisation relative de l'aéronef par rapport à une trajectoire de référence à partir de données relatives audit au moins un indicateur sélectionné transmises par ledit au moins un détecteur, d) calculer un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un indicateur sélectionné, e) comparer l'indice de confiance calculé à un seuil prédéterminé, f) lorsque l'indice de confiance calculé est supérieur au seuil prédéterminé, guider l'aéronef le long de la trajectoire de référence en fonction de la localisation relative estimée. Selon un quatrième aspect, l'invention concerne un système de guidage d'un aéronef le long d'une trajectoire de référence sur une plateforme au sol comprenant: au moins un détecteur, une pluralité d'indicateurs au sol et un module de traitement de données selon le troisième aspect. In a second implementation variant, the processing module implements the step of determining the zones of uncertainty when the aircraft enters the taxiing phase. This makes it possible to determine whether the aircraft is likely to encounter a complex area requiring the implementation of a guiding method adapted to limit the risk of guiding the aircraft in the wrong direction. According to a second aspect, the invention relates to a computer program product comprising code instructions for executing a guidance method according to the first aspect when this program is executed by a processor. According to a third aspect, the invention relates to a data processing module capable of being connected to at least one detector of a plurality of indicators located on a platform on the ground, said at least one detector being embarked on an aircraft and said data processing module being configured to: a) determine geometrically complex areas of the platform uncertainty from a platform map, b) near one of said determined areas of uncertainty, select at least one indicator among the plurality of ground indicators, c) estimating the relative location of the aircraft with respect to a reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) computing a Relative Relative Relative Relative Relative Index based on the at least one selected indicator, e) Comparing the Confidence Index c altered to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guiding the aircraft along the reference trajectory as a function of the estimated relative location. According to a fourth aspect, the invention relates to a system for guiding an aircraft along a reference trajectory on a platform on the ground comprising: at least one detector, a plurality of ground indicators and a processing module. data according to the third aspect.
De tels produit programme d'ordinateur, module de traitement et système de guidage présentent les mêmes avantages que ceux évoqués pour le procédé selon le premier aspect. Such computer program products, processing module and guidance system have the same advantages as those mentioned for the method according to the first aspect.
PRESENTATION DES FIGURES PRESENTATION OF FIGURES
D'autres caractéristiques et avantages de la présente invention apparaîtront à la lecture de la description qui va suivre d'un mode de réalisation de l'invention. Cette description sera donnée en référence aux dessins annexés dans lesquels : - la figure 1 illustre des zones de roulage telles que des zones de croisement peuvent présenter une topologie complexe; Other features and advantages of the present invention will appear on reading the following description of an embodiment of the invention. This description will be given with reference to the appended drawings in which: FIG. 1 illustrates rolling zones such that crossing zones may have a complex topology;
- la figure 2 est un diagramme schématisant une mise en œuvre d'un procédé de guidage selon l'invention ; FIG. 2 is a diagram schematizing an implementation of a guidance method according to the invention;
- la figure 3 représente un système de guidage selon un mode de réalisation de l'invention ; FIG. 3 represents a guidance system according to one embodiment of the invention;
DESCRIPTION DETAILLEE DETAILED DESCRIPTION
En référence à la figure 2 un mode de mise en œuvre de l'invention concerne un procédé de guidage d'un aéronef 1 le long d'une trajectoire de référence sur une plateforme mis en œuvre par un module de traitement de données 2 d'un système de guidage d'un aéronef illustré en figure 3. With reference to FIG. 2, an embodiment of the invention relates to a method of guiding an aircraft 1 along a reference trajectory on a platform implemented by a module. data processing system 2 of an aircraft guidance system illustrated in FIG.
Un tel système comprend des indicateurs au sol 4 utilisés pour le balisage des zones de roulage de la plateforme et au moins un détecteur 3 embarqué sur l'aéronef 1 et adapté pour détecter la position de tels indicateurs au sol. Un tel détecteur capte les signaux envoyés ou réfléchis par lesdits indicateurs au sol. Un tel détecteur peut par exemple être un capteur optique ou optoélectronique captant une lumière émise par des sources lumineuses telles que des lampes ou réfléchie par des marquages réfléchissants. Un tel détecteur peut également être un récepteur radiofréquence recevant des signaux radios émis par des antennes disposées au sol. Such a system comprises ground indicators 4 used for marking the running zones of the platform and at least one detector 3 on board the aircraft 1 and adapted to detect the position of such indicators on the ground. Such a detector captures the signals sent or reflected by said indicators on the ground. Such a detector may for example be an optical or optoelectronic sensor capturing light emitted by light sources such as lamps or reflected by reflective markings. Such a detector can also be a radio frequency receiver receiving radio signals emitted by antennas placed on the ground.
Lesdits détecteurs 3 peuvent être reliés au module de traitement 2 de façon à lui fournir des données de mesure permettant au module de traitement 2 de déterminer la localisation relative de l'aéronef 1 par rapport à ces indicateurs 4. Said detectors 3 can be connected to the processing module 2 so as to provide measurement data enabling the processing module 2 to determine the relative location of the aircraft 1 with respect to these indicators 4.
Le module de traitement de données 2 peut comporter des moyens de communication tels qu'une interface de communication COM, des moyens de calcul tels qu'un calculateur CALC et des moyens de stockage MEM. Un tel calculateur peut consister en un processeur ou microprocesseur, de type x-86 ou RISC par exemple, un contrôleur ou microcontrôleur, un DSP, un circuit intégré tel qu'un ASIC ou programmable tel qu'un FPGA, une combinaison de tels éléments ou tout autre combinaison de composants permettant de mettre en œuvre les étapes de calcul du procédé décrit ci-dessous. Les moyens de stockage MEM peuvent consister en n'importe quel type de stockage de masse informatique tel qu'un disque dur magnétique à plateau, un disque SSD, de la mémoire flash ou encore un lecteur de CD-rom ou DVD-rom. Lesdits moyens de communication COM peuvent être utilisés pour communiquer avec les détecteurs 3. Lesdits moyens de stockage MEM peuvent notamment être utilisés pour stocker une ou plusieurs représentations cartographiques de la plateforme aéroportuaire sur laquelle l'aéronef 1 doit être guidé. The data processing module 2 may comprise communication means such as a communication interface COM, calculation means such as a calculator CALC and storage means MEM. Such a computer may consist of a processor or microprocessor, of the x-86 or RISC type, for example, a controller or microcontroller, a DSP, an integrated circuit such as an ASIC or programmable such as an FPGA, a combination of such elements. or any other combination of components to implement the process calculation steps described below. The MEM storage means may consist of any type of computer mass storage such as a magnetic hard disk tray, an SSD, flash memory or a CD-ROM or DVD-ROM. Said communication means COM can be used to communicate with the detectors 3. Said storage means MEM can in particular be used to store one or more cartographic representations of the airport platform on which the aircraft 1 is to be guided.
Le module de traitement de données 2 peut être relié à au moins un calculateur de l'aéronef ou être intégré dans celui-ci, de sorte à pouvoir lui transmettre des commandes de guidage de l'aéronef. The data processing module 2 can be connected to at least one computer of the aircraft or be integrated therein, so as to be able to send him guidance commands of the aircraft.
Le procédé selon l'invention propose un guidage amélioré de l'aéronef le long d'une trajectoire de référence permettant de limiter la probabilité d'erreurs de guidage lors d'un guidage dans une zone complexe comme une zone de croisement. The method according to the invention proposes an improved guidance of the aircraft along a reference trajectory making it possible to limit the probability of guiding errors during guidance in a complex zone such as a crossing zone.
Lors de la mise en œuvre d'un procédé de guidage, la localisation relative de l'aéronef par rapport à la trajectoire de référence est estimée à partir de données concernant des indicateurs au sol transmises par les détecteurs, telles que la position des indicateurs par rapport à l'avion. Cette estimation de la localisation de l'aéronef est utilisée afin de procéder au guidage de l'aéronef le long de cette trajectoire de référence. Le procédé selon l'invention propose de vérifier que les indicateurs au sol pris en compte pour déterminer la localisation relative de l'aéronef sont pertinents par rapport à la trajectoire de référence à suivre. Ainsi, si un aéronef se trouve à un croisement entre une piste rectiligne et une piste en courbe et que la trajectoire à suivre par l'aéronef doit le mener le long de la piste rectiligne, le procédé selon l'invention permet d'éviter que les indicateurs situés le long de la piste en courbe soient pris en compte pour réaliser le guidage de l'aéronef. Un tel guidage pourrait alors faire emprunter à l'aéronef la piste en courbe au lieu de la piste rectiligne et risquerait de placer l'aéronef dans une situation dangereuse. Pour cela, le procédé calcule pour une localisation relative estimée à partir de certains indicateurs au sol un indice de confiance. Un tel indice de confiance représente la probabilité que ces indicateurs au sol soient appropriés pour le guidage de l'aéronef étant donné la trajectoire empruntée par celui-ci. When implementing a guidance method, the relative location of the aircraft with respect to the reference trajectory is estimated from data relating to ground indicators transmitted by the detectors, such as the position of the indicators by compared to the plane. This estimate of the location of the aircraft is used to guide the aircraft along this reference trajectory. The method of the invention proposes to verify that the ground indicators taken into account to determine the relative location of the aircraft are relevant to the reference path to follow. Thus, if an aircraft is at a crossing between a rectilinear track and a curved track and the trajectory to be followed by the aircraft must lead it along the rectilinear track, the method according to the invention makes it possible to avoid that the indicators located along the curved track are taken into account to perform the guidance of the aircraft. Such guidance could then cause the aircraft to borrow the curved track instead of the straight track and risk placing the aircraft in a dangerous situation. For this, the method calculates for a relative location estimated from some ground indicators a confidence index. Such a confidence index represents the probability that these ground indicators are appropriate for the guidance of the aircraft given the trajectory taken by it.
Plus précisément, en référence à la figure 2, lors d'une étape de détermination E1 , le module de traitement de données détermine une ou plusieurs zones d'incertitude de la plateforme complexes géométriquement à partir d'une cartographie de la plateforme. Une telle étape de détermination peut être mise en œuvre au début d'une phase de roulage. Alternativement, une telle étape de détermination peut être mise en œuvre de manière répétée dans le temps au cours d'une phase de roulage. More specifically, with reference to FIG. 2, during a determination step E1, the data processing module determines one or more geometrically complex uncertainty zones of the platform from a platform map. Such a determination step can be implemented at the beginning of a rolling phase. Alternatively, such a determination step can be implemented repeatedly over time during a rolling phase.
Lors d'une étape de sélection E2, le module de traitement sélectionne parmi la pluralité d'indicateurs au sol détectés par les détecteurs de l'aéronef au moins un indicateur. Une telle étape de sélection est mise en œuvre lorsque l'aéronef se trouve dans ou à proximité d'une zone d'incertitude déterminée lors de l'étape de détermination E1 . Ces indicateurs sélectionnés sont ceux que le module de traitement va ensuite tenter d'utiliser pour procéder au guidage de l'aéronef. During a selection step E2, the processing module selects from among the plurality of ground indicators detected by the detectors of the aircraft at least one indicator. Such a selection step is implemented when the aircraft is in or near an area of uncertainty determined during the determination step E1. These selected indicators are those that the processing module will then attempt to use to proceed with the guidance of the aircraft.
Lors d'une étape d'estimation de localisation relative E3, le module de traitement 2 estime la localisation relative de l'aéronef par rapport à la trajectoire de référence à partir de données relatives aux indicateurs sélectionnés lors de l'étape de sélection E2 transmises par les détecteurs. Cette estimation peut par exemple faire intervenir la position de l'aéronef par rapport à un indicateur ou à un couple d'indicateurs. During a relative location estimation step E3, the processing module 2 estimates the relative location of the aircraft with respect to the reference trajectory from data relating to the indicators selected during the selection step E2 transmitted. by the detectors. This estimate may for example involve the position of the aircraft with respect to an indicator or a pair of indicators.
Lors d'une étape de calcul E4, le module de traitement 2 vérifie la pertinence des indicateurs sélectionnés utilisés lors de l'étape d'estimation de localisation relative E3 par rapport à la trajectoire de référence à suivre. Pour cela le module de traitement calcule pour la localisation relative estimée à partir de ces indicateurs sélectionnés un indice de confiance indiquant la probabilité que ces indicateurs sélectionnés marquent un chemin que l'aéronef est sensé emprunter en suivant la trajectoire de référence. During a calculation step E4, the processing module 2 checks the relevance of the selected indicators used during the estimation step relative location E3 relative to the reference trajectory to follow. For this, the processing module calculates for the relative location estimated from these selected indicators a confidence index indicating the probability that these selected indicators mark a path that the aircraft is supposed to take along the reference path.
Selon un premier mode de réalisation, le calcul de l'indice de confiance est réalisé en fonction de la disposition des indicateurs sélectionnés par rapport à la trajectoire de référence. Par exemple, des indicateurs peuvent être considérés comme adaptés s'ils sont disposés le long d'une trajectoire similaire à la trajectoire de référence. L'indice de confiance associé à ces indicateurs pourra alors être élevé. A l'inverse, si des indicateurs sélectionnés forment une ligne courbe indiquant un virage alors que la trajectoire de référence est une ligne droite, les indicateurs peuvent être considérés comme inadaptés et l'indice de confiance associé peut alors être faible. According to a first embodiment, the calculation of the confidence index is made according to the disposition of the selected indicators with respect to the reference trajectory. For example, indicators may be considered suitable if they are arranged along a path similar to the reference path. The confidence index associated with these indicators can then be high. Conversely, if selected indicators form a curved line indicating a turn while the reference path is a straight line, the indicators may be considered unsuitable and the associated index of confidence may be low.
Selon un deuxième mode de réalisation, le calcul de l'indice de confiance est réalisé en fonction de la position de l'aéronef par rapport aux indicateurs sélectionnés et de la trajectoire de référence. Le module de traitement peut par exemple comparer la position de l'aéronef par rapport aux indicateurs sélectionnés et la localisation de l'aéronef par rapport à la trajectoire de référence. Si les indicateurs sélectionnés sont inadaptés et ne suivent pas la trajectoire de référence, l'aéronef suivant la trajectoire de référence va s'écarter des indicateurs sélectionnés mais pas de la trajectoire de référence. L'écart entre la position relative de l'aéronef par rapport aux indicateurs sélectionnés et la localisation relative de l'aéronef par rapport à la trajectoire de référence peut alors présenter une variation brusque. L'indice de confiance associé à de tels indicateurs inadaptés pourra alors être faible. Le calcul de l'indice de confiance peut être fonction d'un niveau de complexité géométrique de la zone d'incertitude traversée par l'aéronef ou de conditions extérieures comme des conditions météorologiques. L'indice de confiance peut être fixé à une valeur prédéterminée volontairement très basse lorsque sont remplies des conditions dans lesquelles le calcul de l'indice de confiance est connu pour donner des résultats non fiables. According to a second embodiment, the calculation of the confidence index is made according to the position of the aircraft with respect to the selected indicators and the reference trajectory. The processing module can for example compare the position of the aircraft with respect to the selected indicators and the location of the aircraft relative to the reference trajectory. If the selected indicators are unsuitable and do not follow the reference trajectory, the aircraft following the reference trajectory will deviate from the selected indicators but not from the reference trajectory. The difference between the relative position of the aircraft with respect to the selected indicators and the relative location of the aircraft relative to the reference trajectory may then present a sudden variation. The confidence index associated with such unsuitable indicators may then be low. The calculation of the confidence index may be a function of a geometric complexity level of the uncertainty zone traversed by the aircraft or of external conditions such as weather conditions. The confidence index may be set to a deliberately very low predetermined value when conditions are fulfilled in which the calculation of the confidence index is known to give unreliable results.
Lors d'une étape de comparaison E5, le module de traitement compare l'indice de confiance calculé à un seuil prédéterminé. During a comparison step E5, the processing module compares the calculated index of confidence with a predetermined threshold.
Lors d'une étape de guidage E6, le module de traitement guide l'aéronef le long de la trajectoire de référence en fonction de la localisation relative estimée si l'indice de confiance est supérieur au seuil prédéterminé. La localisation relative ayant été reconnue comme digne de confiance, le module de traitement peut l'utiliser pour corriger la trajectoire de l'avion pour que celui-ci suive bien la trajectoire de référence. Si l'indice de confiance est inférieur au seuil, la position relative estimée ne peut pas être utilisée pour le guidage de l'avion et le module de traitement exécute à nouveau les étapes de sélection E2, d'estimation de localisation relative E3, de calcul E4 et de comparaison E5 : le module de traitement sélectionne au moins un nouvel indicateur, estime la localisation relative de l'aéronef à partir des nouveaux indicateurs, calcule l'indice de confiance associé et le compare au seuil prédéterminé. During a guide step E6, the processing module guides the aircraft along the reference trajectory as a function of the estimated relative location if the confidence index is greater than the predetermined threshold. The relative location having been recognized as trustworthy, the processing module can use it to correct the trajectory of the aircraft so that it follows the reference trajectory. If the confidence index is below the threshold, the estimated relative position can not be used for the guidance of the aircraft and the processing module performs again the selection steps E2, relative location estimation E3, E4 calculation and comparison E5: the processing module selects at least one new indicator, estimates the relative location of the aircraft from the new indicators, calculates the associated confidence index and compares it with the predetermined threshold.
Le module de traitement peut ainsi répéter ces étapes tant que l'indice de confiance reste inférieur au seuil. The processing module can thus repeat these steps as long as the confidence index remains below the threshold.
Selon un mode de réalisation, le module de traitement peut, lorsqu'un indice de confiance est inférieur au seuil, transmettre un message d'alarme au pilote requérant que l'aéronef soit piloté en mode manuel ou prévenant du passage de l'aéronef en mode manuel lors d'une étape E7 de guidage manuel. Un tel message peut par exemple être envoyé au bout d'un nombre prédéterminé de comparaisons négatives, au bout d'un certain temps écoulé sans qu'un indice de confiance soit supérieur au seuil ou encore lorsqu'il n'existe plus de nouvel indicateur pour lequel aucun indice de confiance n'a été calculé. Le module de traitement considère alors que les indicateurs sélectionnés au cours des étapes précédentes ne permettent pas un guidage fiable de l'aéronef et que le pilote devrait assurer un guidage manuel de l'aéronef. Le passage en mode manuel peut être automatique à l'issue de l'émission du message d'alarme, par exemple après expiration d'un décompte temporel de durée prédéterminée. Dans un tel mode de réalisation l'envoi d'un tel message requérant le guidage manuel de l'aéronef ou le passage automatique en mode manuel accompagné d'une alerte peut être imposé en fixant systématiquement lors de l'étape de calcul E4 l'indice de confiance à une valeur prédéterminée volontairement très basse jusqu'à ce que le message d'alarme soit envoyé. According to one embodiment, the processing module can, when a confidence index is below the threshold, transmit an alarm message to the requesting pilot that the aircraft is piloted in manual mode or warning of the passage of the aircraft in manual mode during a manual guidance step E7. Such a message may for example be sent after a predetermined number of negative comparisons, after a certain time has elapsed without a confidence index being greater than the threshold or even when there is no new indicator for which no confidence index 'has been calculated. The processing module then considers that the indicators selected during the previous steps do not allow reliable guidance of the aircraft and that the pilot should provide manual guidance of the aircraft. The transition to manual mode may be automatic after the issuance of the alarm message, for example after expiration of a time countdown of predetermined duration. In such an embodiment the sending of such a message requiring the manual guidance of the aircraft or the automatic switch to manual mode accompanied by an alert can be imposed by setting systematically during the calculation step E4 the confidence index to a predetermined value voluntarily very low until the alarm message is sent.
De plus, lorsqu'un indice de confiance est inférieur au seuil prédéterminé, le module de traitement peut décider de guider l'aéronef à partir de la trajectoire de référence lors d'une étape E8 de guidage autonome, sans prendre en compte la ou les localisations relatives estimées puisque ces localisations relatives n'ont pas été jugées fiables. Le module de traitement peut également prendre en compte des informations de localisation absolue fournies par exemple par un module GPS. L'aéronef continue alors à être guidé mais en aveugle, sans utiliser les informations issues des détecteurs. Selon un mode de réalisation, si l'aéronef est piloté en mode manuel et se trouve dans une zone d'incertitude, le module de traitement peut tout de même exécuter les étapes de sélection E2, d'estimation d'une localisation relative E3, de calcul E4 et de comparaison E5 et peut proposer au pilote de repasser en mode de guidage automatique lorsqu'un indice de confiance est supérieur au seuil prédéterminé. Le module de traitement dispose alors d'une localisation relative considérée comme fiable lui permettant de réaliser le guidage automatique de l'aéronef dans la zone d'incertitude le long de la trajectoire de référence. Le mode de guidage automatique peut également être réenclenché automatiquement lorsqu'un indice de confiance est supérieur au seuil prédéterminé. In addition, when a confidence index is below the predetermined threshold, the processing module can decide to guide the aircraft from the reference trajectory during an autonomous guidance step E8, without taking into account the one or more estimated relative locations since these relative locations were not considered reliable. The processing module can also take into account absolute location information provided for example by a GPS module. The aircraft then continues to be guided but blind, without using the information from the detectors. According to one embodiment, if the aircraft is piloted in manual mode and is in a zone of uncertainty, the processing module can still execute the selection steps E2, for estimating a relative location E3, E4 calculation and comparison E5 and may offer the pilot to return to automatic guidance mode when a confidence index is greater than the predetermined threshold. The module treatment then has a relative location considered reliable allowing it to perform the automatic guidance of the aircraft in the uncertainty zone along the reference path. The automatic guidance mode can also be automatically reset when a confidence index is greater than the predetermined threshold.
Selon un mode de réalisation, le module de traitement peut lorsque l'aéronef sort d'une zone d'incertitude proposer au pilote d'arrêter de calculer un indice de confiance pour la localisation estimée. Chaque localisation estimée est alors considérée comme fiable et pourra être utilisée pour le guidage de l'aéronef sans remettre en question les indicateurs sélectionnés pour évaluer cette localisation. Le module de traitement peut rester dans ce mode de guidage simplifié tant que l'aéronef ne se retrouve pas de nouveau à proximité ou dans une zone d'incertitude. Le procédé de guidage tel que décrit permet ainsi de guider correctement un aéronef sur une plate-forme d'un aéroport, même dans des zones de roulage complexes. According to one embodiment, the processing module can, when the aircraft leaves a zone of uncertainty, propose to the pilot to stop calculating a confidence index for the estimated location. Each estimated location is then considered reliable and can be used to guide the aircraft without questioning the selected indicators to assess this location. The processing module can remain in this simplified guidance mode as long as the aircraft is not found again in the vicinity or in a zone of uncertainty. The guidance method as described thus makes it possible to correctly guide an aircraft on a platform of an airport, even in complex taxiing areas.

Claims

REVENDICATIONS
Procédé de guidage le long d'une trajectoire de référence sur une plateforme au sol d'un aéronef (1 ) embarquant au moins un détecteur (3) d'une pluralité d'indicateurs au sol (4), ledit procédé comprenant les étapes suivantes mises en œuvre par un module de traitement de données (2) susceptible d'être connecté audit au moins un détecteur : a) détermination (E1 ) de zones d'incertitude de la plateforme complexes géométriquement à partir d'une cartographie de la plateforme, b) à proximité d'une desdites zones d'incertitude déterminées, sélection Method for guiding along a reference trajectory on a ground platform of an aircraft (1) carrying at least one detector (3) of a plurality of ground indicators (4), said method comprising the following steps implemented by a data processing module (2) capable of being connected to said at least one detector: a) determination (E1) of geometrically complex areas of uncertainty of the platform from a map of the platform, b) near one of said determined zones of uncertainty, selection
(E2) d'au moins un indicateur (4) parmi la pluralité d'indicateurs au sol, c) estimation (E2) of at least one indicator (4) among the plurality of ground indicators, c) estimation
(E3) de la localisation relative de l'aéronef par rapport à ladite trajectoire de référence à partir de données relatives audit au moins un indicateur sélectionné transmises par ledit au moins un détecteur, d) calcul (E3) of the relative location of the aircraft in relation to said reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) calculation
(E4) d'un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un indicateur sélectionné, e) comparaison (E4) a confidence index relating to the relative location estimated from the at least one selected indicator, e) comparison
(E5) de l'indice de confiance calculé à un seuil prédéterminé, f) lorsque l'indice de confiance calculé est supérieur au seuil prédéterminé, guidage (E5) of the confidence index calculated at a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guidance
(E6) de l'aéronef le long de la trajectoire de référence en fonction de la localisation relative estimée. Procédé selon la revendication précédente, dans lequel l'étape de calcul de l'indice de confiance dudit au moins un indicateur sélectionné (E4) est réalisée en fonction de la disposition desdits indicateurs au sol par rapport à la trajectoire de référence. (E6) of the aircraft along the reference trajectory according to the estimated relative location. Method according to the preceding claim, in which the step of calculating the confidence index of said at least one selected indicator (E4) is carried out as a function of the arrangement of said indicators on the ground relative to the reference trajectory.
Procédé selon la revendication 1 , dans lequel l'étape de calcul (E4) de l'indice de confiance relatif à la localisation relative estimée à partir dudit au moins unindicateur sélectionné est réalisée en fonction de la position de l'aéronef par rapport audit au moins un indicateur sélectionné et de la trajectoire de référence. Method according to claim 1, in which the step of calculating (E4) the confidence index relating to the relative location estimated from said at least one selected indicator is carried out as a function of the position of the aircraft relative to said minus a selected indicator and the reference trajectory.
Procédé selon l'une des revendications précédentes, dans lequel lorsque l'indice de confiance relatif à la localisation relative estimée est inférieur au seuil prédéterminé, le module de traitement de données sélectionne au moins un nouvel indicateur au sol, estime la localisation relative de l'aéronef par rapport à la trajectoire de référence à partir dudit au moins un nouvel indicateur sélectionné, calcule un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un nouvel indicateur sélectionné et compare l'indice de confiance calculé au seuil prédéterminé. Method according to one of the preceding claims, in which when the confidence index relating to the estimated relative location is lower than the predetermined threshold, the data processing module selects at least one new indicator on the ground, estimates the relative location of the the aircraft relative to the reference trajectory from said at least one new indicator selected, calculates a confidence index relating to the relative location estimated from the at least one new indicator selected and compares the confidence index calculated to the predetermined threshold.
Procédé selon l'une des revendications précédentes, dans lequel lorsque l'indice de confiance relatif à la localisation relative estimée est inférieur au seuil prédéterminé, le module de traitement de données transmet un message d'alarme requérant que l'aéronef soit piloté en mode manuel ou avertissant du passage de l'aéronef en mode manuel (E7). Method according to one of the preceding claims, in which when the confidence index relating to the estimated relative location is lower than the predetermined threshold, the data processing module transmits an alarm message requiring that the aircraft be piloted in mode manual or warning of the aircraft switching to manual mode (E7).
Procédé selon l'une des revendications précédentes, dans lequel lorsque l'indice de confiance relatif à la localisation estimée est inférieur au seuil prédéterminé, le module de traitement de données guide l'aéronef à partir de la trajectoire de référence (E8). Method according to one of the preceding claims, in which when the confidence index relating to the location estimated is lower than the predetermined threshold, the data processing module guides the aircraft from the reference trajectory (E8).
7. Procédé selon l'une des revendications précédentes, dans lequel le module de traitement met en œuvre l'étape de détermination des zones d'incertitude (E1 ) de manière répétée dans le temps. 7. Method according to one of the preceding claims, in which the processing module implements the step of determining the uncertainty zones (E1) repeatedly over time.
8. Procédé selon l'une des revendications précédentes, dans lequel le module de traitement met en œuvre l'étape de détermination des zones d'incertitude (E1 ) lorsque l'aéronef entre en phase de roulage (« taxiing »). 8. Method according to one of the preceding claims, in which the processing module implements the step of determining the zones of uncertainty (E1) when the aircraft enters the taxiing phase.
9. Produit programme d'ordinateur comprenant des instructions de code pour l'exécution d'un procédé de guidage selon l'une quelconque des revendications précédentes lorsque ce programme est exécuté par un processeur. 9. Computer program product comprising code instructions for executing a guidance method according to any one of the preceding claims when this program is executed by a processor.
10. Module de traitement de données (2) susceptible d'être connecté à au moins un détecteur (3) d'une pluralité d'indicateurs (4) localisés sur une plateforme au sol, ledit au moins un détecteur (3) étant embarqué sur un aéronef (1 ) et ledit module de traitement de données (2) étant configuré pour : a) déterminer des zones d'incertitude de la plateforme complexes géométriquement à partir d'une cartographie de la plateforme, b) à proximité d'une desdites zones d'incertitude déterminées, sélectionner au moins un indicateur parmi la pluralité d'indicateurs au sol, c) estimer la localisation relative de l'aéronef par rapport à une trajectoire de référence à partir de données relatives audit au moins un indicateur sélectionné transmises par ledit au moins un détecteur, d) calculer un indice de confiance relatif à la localisation relative estimée à partir de l'au moins un indicateur sélectionné, e) comparer l'indice de confiance calculé à un seuil prédéterminé, f) lorsque l'indice de confiance calculé est supérieur au seuil prédéterminé, guider l'aéronef le long de la trajectoire de référence en fonction de la localisation relative estimée. 10. Data processing module (2) capable of being connected to at least one detector (3) of a plurality of indicators (4) located on a ground platform, said at least one detector (3) being on-board on an aircraft (1) and said data processing module (2) being configured to: a) determine geometrically complex areas of uncertainty of the platform from a map of the platform, b) near a of said determined areas of uncertainty, select at least one indicator from the plurality of ground indicators, c) estimate the relative location of the aircraft with respect to a reference trajectory from data relating to said at least one selected indicator transmitted by said at least one detector, d) calculate a confidence index relating to the relative location estimated at from the at least one selected indicator, e) compare the calculated confidence index to a predetermined threshold, f) when the calculated confidence index is greater than the predetermined threshold, guide the aircraft along the reference trajectory based on the estimated relative location.
11. Système de guidage d'un aéronef (1 ) le long d'une trajectoire de référence sur une plateforme au sol comprenant: au moins un détecteur (3), une pluralité d'indicateurs au sol (4) et un module de traitement de données (2) selon la revendication 1 0. 11. System for guiding an aircraft (1) along a reference trajectory on a ground platform comprising: at least one detector (3), a plurality of ground indicators (4) and a processing module data (2) according to claim 1 0.
EP15716850.1A 2014-04-22 2015-04-22 Method for guiding an aircraft Active EP3134791B1 (en)

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IL248454B (en) 2019-07-31
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RU2016145426A3 (en) 2018-11-19
CN106462163A (en) 2017-02-22
BR112016024640A2 (en) 2017-08-15
WO2015162152A1 (en) 2015-10-29
IL248454A0 (en) 2016-11-30
CN106462163B (en) 2019-11-05
ES2964768T3 (en) 2024-04-09
RU2016145426A (en) 2018-05-23
US20170046963A1 (en) 2017-02-16
MX2016013895A (en) 2017-06-29
FR3020172B1 (en) 2016-05-06
EP3134791B1 (en) 2023-09-13

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